pose_manager.py 文件源码

def parseXapPoses(self, xaplibrary):
        try:
            poses = xapparser.getpostures(xaplibrary)
        except RuntimeError as re:
            rospy.logwarn("Error while parsing the XAP file: %s" % str(re))
            return

        for name, pose in poses.items():

            trajectory = JointTrajectory()

            trajectory.joint_names = pose.keys()
            joint_values = pose.values()

            point = JointTrajectoryPoint()
            point.time_from_start = Duration(2.0) # hardcoded duration!
            point.positions = pose.values()
            trajectory.points = [point]

            self.poseLibrary[name] = trajectory